From 816f786763419270b990603379c6335d3b4b9106 Mon Sep 17 00:00:00 2001
From: Quaternions <krakow20@gmail.com>
Date: Fri, 10 Nov 2023 17:12:11 -0800
Subject: [PATCH] implement MinkowskiMesh::face_nd for MinkowskiFace::EdgeEdge
case
---
src/integer.rs | 5 +++++
src/model_physics.rs | 16 ++++++++++------
2 files changed, 15 insertions(+), 6 deletions(-)
diff --git a/src/integer.rs b/src/integer.rs
index e106b70..95deefa 100644
--- a/src/integer.rs
+++ b/src/integer.rs
@@ -427,9 +427,14 @@ impl Planar64{
pub const fn get(&self)->i64{
self.0
}
+ #[inline]
pub fn sqrt(&self)->Self{
Planar64(unsafe{(((self.0 as i128)<<32) as f64).sqrt().to_int_unchecked()})
}
+ #[inline]
+ pub const fn signum_i64(&self)->i64{
+ ((self.0&(1<<63)!=0) as i64)*2-1
+ }
}
const PLANAR64_ONE_FLOAT32:f32=(1u64<<32) as f32;
const PLANAR64_CONVERT_TO_FLOAT32:f32=1.0/PLANAR64_ONE_FLOAT32;
diff --git a/src/model_physics.rs b/src/model_physics.rs
index feca387..2cfa469 100644
--- a/src/model_physics.rs
+++ b/src/model_physics.rs
@@ -1,5 +1,5 @@
use crate::integer::{Planar64,Planar64Vec3};
-use std::borrow::Cow;
+use std::borrow::{Borrow,Cow};
#[derive(Debug,Clone,Copy,Hash,Eq,PartialEq)]
pub struct VertId(usize);
@@ -513,11 +513,15 @@ impl MeshQuery<MinkowskiFace,MinkowskiEdge,MinkowskiVert> for MinkowskiMesh<'_>{
(n,d+n.dot(self.mesh1.vert(v1)))
},
MinkowskiFace::EdgeEdge(e0,e1)=>{
- let [e0f0,e0f1]=self.mesh0.edge_faces(e0).into_owned();
- let [e1f0,e1f1]=self.mesh1.edge_faces(e1).into_owned();
- //cross edge faces
- //cross crosses
- todo!()
+ let edge0_n=self.mesh0.edge_n(e0);
+ let edge1_n=self.mesh1.edge_n(e1);
+ let &[e0v0,e0v1]=self.mesh0.edge_verts(e0).borrow();
+ let &[e1v0,e1v1]=self.mesh1.edge_verts(e1).borrow();
+ let n=edge0_n.cross(edge1_n);
+ let e0d=n.dot(self.mesh0.vert(e0v0)+self.mesh0.vert(e0v1));
+ let e1d=n.dot(self.mesh0.vert(e1v0)+self.mesh0.vert(e1v1));
+ let sign=e0d.signum_i64();
+ (n*(sign*2),(e0d-e1d)*sign)
},
MinkowskiFace::VertFace(v0,f1)=>{
let (n,d)=self.mesh1.face_nd(f1);